A Spacecraft Attitude Reference Command Generation Method for Suppressing Flexible Vibration

Abstract

The invention relates to a spacecraft attitude reference instruction generation method for suppressing flexible vibration. According to the method, a feedforward filter obtained by superposing a series of pulses is adopted to filter the desired attitude angle of a spacecraft, so that a spacecraft attitude reference instruction suitable for PD type attitude closed-loop negative feedback control can be generated; the feedforward filter is obtained based on convolution of an attitude movement filter and a flexible vibration filter; and the feedforward filter is designed online in a targeted manner according to the requirements of each attitude control task and system initial conditions at the beginning time of the attitude control tasks which are obtained through measurement or estimation; the desired attitude angle is filtered by the filter, so that the attitude angle instruction can be generated; and the attitude angle instruction and actual attitude information are inputted into a controller together, so that a control torque can be generated; and attitude control can be completed. The spacecraft attitude reference instruction generation method of the invention is applicable to rest-to-rest maneuver, moving-to-rest maneuver or stable control conditions of spacecrafts with flexible structure bodies and can complete attitude control tasks under system non-zero initial conditions and effectively suppresses undesired flexible vibration.

Description

technical field [0001] The invention belongs to the research field of spacecraft control technology, and relates to an attitude control method of a spacecraft with a structure body with inherent flexible vibration motion, in particular to strict requirements for attitude pointing accuracy, strict requirements for attitude pointing dynamic characteristics, and strict structural body flexibility. A method for generating attitude reference commands of spacecraft required by motion dynamic characteristics. Background technique [0002] Since the 1970s, emerging aerospace technology has entered and rapidly expanded to many aspects of human life. Various spacecraft such as artificial earth satellites, space exploration spacecraft, space telescopes, and manned spacecraft have entered space. Performing various tasks such as communication relay, meteorological observation, earth environment observation, and space science exploration has greatly expanded human ability to understand, e...

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Problems solved by technology

[0009] However, it should be pointed out that the design of the traditional component force synthesis controller / input shaper requires the system to have zero initial conditions, so most of the research based on this at present does not consider the initial conditions of the spacecraft system when the control is applied, especially The impact of the initial conditions of vibrational motion, and the paper "Minimizing residual vibrations for non-zero initial states: Application to an emergency stop of acrane" published by Veciana et al. in "International Journal of Precision Engineering and Manufacturing" in 2013 pointed out that the initial Conditions seriously affect the application effect of input forming technology

In the actual spacecraft attitude control tasks, in many cases, the spacecraft’s initial attitude angle, initial attitude angular velocity, initial flexible vibration mode coordinates and other state quantities are not zero, and cannot meet the requirements of zero initial conditions. Therefore, the traditional Component force synthesis / input forming design method is no longer applicable

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